Integrated discharge station and rubbish bin

Abstract

A docking station for a mobile cleaning robot may include a base and a canister. The base may be configured to receive at least a portion of the mobile cleaning robot on it, and the base may include a debris port. The canister may be connected to the base and positioned at least partially above the base. The canister may include a debris duct, which is connected to the debris port and configured to receive an air stream from the mobile cleaning robot. A lid assembly may be connected to the debris duct and configured to receive at least a portion of the air stream from the mobile cleaning robot. A receiving section may be connected to the lid assembly and configured to receive at least a portion of the air stream or debris from the lid assembly.

Description

Technical Field

[0001] Priority Application This application is a continuation of U.S. Patent Application No. 18 / 127,776, filed on March 29, 2023, claims the priority thereof, and the content of which is incorporated herein by reference in its entirety.

Background Art

[0002] Autonomous mobile robots include autonomous mobile cleaning robots that can autonomously perform cleaning tasks in an environment (such as a home). Many types of cleaning robots are autonomous to some extent and autonomous in different ways. Some robots can automatically interface with a docking station or other device. The docking station can perform maintenance on the robot (such as charging the robot's battery and discharging debris from the robot's lid assembly).

Summary of the Invention

Problems to be Solved by the Invention

[0003] Mobile cleaning robots can include various components that require maintenance or interaction between missions or during missions. For example, a vacuuming robot that extracts debris from the environment may need to empty its debris bin during or between missions. Some of these robots can automatically eject debris (such as into the debris bag of a docking station). However, the debris bag of the docking station requires regular replacement or replacement when the debris bag is full, and requires regular user interaction with the docking station. Also, some users may not prefer to have additional pieces of equipment on their floors. [Means for solving the problem]

[0004] This disclosure can help address these problems by providing a docking system that includes a rubbish bin or receiving section (or a docking station within a garbage can or receiving section). Thus, during or following the discharge of debris from a mobile cleaning robot, the rubbish bin (or trash can or garbage can) can receive debris from the mobile cleaning robot, reducing or eliminating the need to replace individual docking station debris bags, and allowing the debris collected by the docking station to be disposed of by the user along with other rubbish or trash in a normal manner or frequency, which can help reduce numerous user interactions with the robot or docking station.

[0005] For example, a docking station for a mobile cleaning robot may include a base and a canister. The base may be configured to receive at least a portion of the mobile cleaning robot on it, and the base may include a debris port. The canister may be connected to the base and positioned at least partially above the base. The canister may include a debris duct, which is connected to the debris port and configured to receive an air stream from the mobile cleaning robot. A lid assembly may be connected to the debris duct and configured to receive at least a portion of the air stream from the mobile cleaning robot. A receiving section may be connected to the lid assembly and configured to receive at least a portion of the air stream or debris from the lid assembly.

[0006] The above discussion is intended to provide an overview of the subject matter of this patent application. It is not intended to provide an exclusive or exhaustive description of the invention. The following description is included to provide further information about this patent application.

[0007] In the drawings (which are not necessarily drawn to the correct scale), similar numbers may describe similar components in different drawings. Similar numbers with different letter suffixes may represent different instances of similar components. The drawings generally illustrate, but not as an example, the various embodiments discussed in this document. [Brief explanation of the drawing]

[0008] [Figure 1] This is a plan view of a mobile cleaning robot in an environmental setting. [Figure 2A] This is an isometric view of the mobile cleaning robot under the first condition. [Figure 2B] This is an isometric view of the mobile cleaning robot under the second condition. [Figure 2C] This is an isometric view of the mobile cleaning robot under the third condition. [Figure 2D] This is a bottom view of the mobile cleaning robot under the third condition. [Figure 2E] This is an isometric view of the top of the mobile cleaning robot under the third condition. [Figure 2F] This is a side cross-section of the mobile cleaning robot under the first condition. [Figure 3] This is an isometric view of a mobile cleaning robot and docking station. [Figure 4] This diagram illustrates the communication network in which a mobile cleaning robot operates, and provides an example of data transmission within that network. [Figure 5A] This is a schematic diagram of a docking station. [Figure 5B] It is a schematic diagram of a docking station. [Figure 5C] It is a schematic diagram of a docking station. [Figure 6A] It is an isometric view of a docking station. [Figure 6B] It is an isometric view of a docking station. [Figure 6C] It is a sectional isometric view of a docking station. [Figure 6D] It is an isometric view of a part of a docking station. [Figure 7A] It is an isometric view of a docking station. [Figure 7B] It is an isometric view of a docking station. [Figure 7C] It is an isometric view of a part of a docking station. [Figure 7D] It is an isometric view of a part of a docking station. [Figure 7E] It is an isometric view of a part of a docking station. [Figure 7F] It is an isometric view of a part of a docking station. [Figure 7G] It is a side sectional view of a part of a docking station. [Figure 8A] It is an isometric view of a docking station. [Figure 8B] It is an isometric view of a docking station. [Figure 8C] It is an isometric view of a part of a docking station. [Figure 8D] It is an isometric view of a part of a docking station. [Figure 8E] It is an isometric view of a part of a docking station. [Figure 8F] It is an isometric view of a part of a docking station. [Figure 8G] It is an isometric view of a part of a docking station. [Figure 9] It is an isometric view of a part of a docking station. [Figure 10] This is an isometric view of the docking station. [Figure 11] This is an isometric view of the docking station. [Figure 12] This is an isometric view of the docking station. [Figure 13A] This is a schematic diagram of a portion of the docking station. [Figure 13B] This is a schematic diagram of a portion of the docking station. [Figure 14] This is a block diagram illustrating an example of a machine on which one or more embodiments may be implemented. [Modes for carrying out the invention]

[0009] Overview of robot operation Figure 1 illustrates a plan view of the mobile cleaning robot 100 in an environment 40 according to at least one example of the present disclosure. The environment 40 can be a dwelling (e.g., a house or apartment) and can include rooms 42a-42e. Obstacles such as a bed 44, a table 46, and an island 48 can be located within the rooms 42 of the environment. Each of the rooms 42a-42e can have floor surfaces 50a-50e, respectively. Some rooms (e.g., room 42d) can include rugs (e.g., rug 52). The floor surfaces 50 can be one or more types such as hardwood, ceramic, low-pile carpet, medium-pile carpet, long (or high)-pile carpet, or stone.

[0010] The mobile cleaning robot 100 can be operated (for example, by a user 60, etc.) to autonomously clean the environment 40 in a room-by-room manner. In some examples, the robot 100 can clean the floor surface 50a of one room (for example, room 42a, etc.) before moving to the next room (for example, room 42d, etc.) and cleaning the surface of room 42d. Different rooms can have different types of floor surfaces. For example, room 42e (which could be a kitchen) can have a hard floor surface (for example, wood or ceramic tile, etc.), and room 42a (which could be a bedroom) can have a carpeted surface (for example, a medium-pile carpet, etc.). Other rooms (for example, room 42d (which could be a dining room, etc.)) can have multiple surfaces, where a rug 52 is located in room 42d.

[0011] During a cleaning or travel operation, the robot 100 can use data collected from various sensors (e.g., optical sensors) and calculations (e.g., odometry and obstacle detection) to create a map of the environment 40. Once the map is generated, the user 60 can define rooms or zones (e.g., room 42) within the map. The map may be presented to the user 60 on a user interface (e.g., a mobile device), where the user 60 can, for example, specify or change cleaning preferences.

[0012] Furthermore, during operation, the robot 100 can detect the surface type within each of the rooms 42, and this can be stored in the robot 100 or another device. The robot 100 can update the map (or data associated with it) to include, for example, the surface types of each floor surface 50a-50e in each of the rooms 42 of the environment 40, or to incorporate them into calculations. In some examples, the map can be updated to show different surface types, for example, within each of the rooms 42.

[0013] In some cases, user 60 can define an action control zone 54. In autonomous operation, robot 100 can initiate an action in response to being in or near the action control zone 54. For example, user 60 can define an area of ​​environment 40 that tends to get dirty as the action control zone 54. In response, robot 100 can initiate an intensive cleaning action, in which robot 100 performs intensive cleaning of a portion of the floor surface 50d within the action control zone 54.

[0014] Examples of robots Figure 2A shows an isometric view of the mobile cleaning robot 100 with the pad assembly in the retracted position. Figure 2B shows an isometric view of the mobile cleaning robot 100 with the pad assembly in the extended position. Figure 2C shows an isometric view of the mobile cleaning robot 100 with the pad assembly in the mopping position. Figures 2A to 2C also show the front and rear of the orientation indicator. Figures 2A to 2C are discussed together below.

[0015] The mobile cleaning robot 100 may include a main body 102 and a mopping system 104. The mopping system 104 may include arms 106a and 106b (collectively referred to as arm 106) and a pad assembly 108. The robot 100 may also include a bumper 109 and other features (e.g., an extractor (including rollers), one or more side brushes, a vacuum system, a controller, a drive system (e.g., a motor, gear train, and wheels), casters, and sensors, as discussed in more detail below). The distal portion of arm 106 may be connected to the pad assembly 108, and the proximal portions of arms 106a and 106b may be connected to an internal drive system for driving arm 106 to move the pad assembly 108.

[0016] Figures 2A to 2C illustrate how the robot 100 can be operated to move the pad assembly 108 from the stowed position in Figure 2A to the transitional or partially deployed position in Figure 2B, and then to the mopping or deployed position in Figure 2C. In the stowed position in Figure 2A, the robot 100 can perform only vacuuming operations. In the deployed position in Figure 2C, the robot 100 can perform either vacuuming or mopping operations. Figures 2D to 2E discuss additional components of the robot 100.

[0017] Robot components Figure 2D shows a bottom view of the mobile cleaning robot 100, and Figure 2E shows a top isometric view of the robot 100. Figures 2D and 2E are discussed together below. The robot 100 in Figures 2D and 2E can be consistent with Figures 2A to 2C, and Figures 2D to 2E show additional details of the robot 100. For example, Figures 2D to 2E show that the robot 100 can include a main body 102, a bumper 109, an extractor 113 (including rollers 114a and 114b), motors 116a and 116b, drive wheels 118a and 118b, casters 120, a side brush assembly 122, a vacuum assembly 124, a memory 126, a sensor 128, and a lid assembly 130. The mopping system 104 can also include a tank 132 and a pump 134.

[0018] The cleaning robot 100 can be an autonomous cleaning robot capable of autonomously traversing the floor surface 50 (Figure 1) while taking in debris from different parts of the floor surface 50. As shown in Figure 2D, the robot 100 may include a body 102 that may be movable across the floor surface 50. The body 102 may include a plurality of connected structures to which movable or fixed components of the cleaning robot 100 are mounted. The connected structures may include, for example, an outer housing for covering the internal components of the cleaning robot 100, a chassis to which drive wheels 118a and 118b and cleaning rollers 114a and 114b (of the cleaning assembly 113) are mounted, and a bumper 109 connected to the outer housing. The caster wheels 120 are capable of supporting the front portion of the main body 102 above the floor surface 50, and the drive wheels 118a and 118b are capable of supporting the middle and rear portions of the main body 102 above the floor surface 50 (and are also capable of supporting most of the weight of the robot 100).

[0019] As shown in Figure 2D, the main body 102 may include a front section, which may have a substantially semicircular shape and be connected to a bumper 109. The main body 102 may also include a rear section having a substantially semicircular shape. In other examples, the main body 102 may have other shapes, such as a square front or a straight front. The robot 100 may also include a drive system including actuators (e.g., motors) 116a and 116b. The actuators 116a and 116b may be connected to the main body 102 and operably connected to drive wheels 118a and 118b, which may be rotatably mounted on the main body 102. When driven, the actuators 116a and 116b can rotate the drive wheels 118a and 118b, enabling the robot 100 to move autonomously across the floor surface 50.

[0020] The vacuum assembly 124 can be at least partially located within the main body 102 of the robot 100 (for example, within the rear portion of the main body 102), and in other examples, it can be located elsewhere. The vacuum assembly 124 can include a motor for driving an impeller that generates airflow when rotated. The airflow and cleaning roller 114 can cooperate to draw debris into the robot 100 when rotated. A cleaning bin 137 (shown in Figure 2F) can be mounted within the main body 102 and can contain the debris drawn in by the robot 100. A filter within the main body 102 can separate the debris from the airflow before the airflow enters the vacuum assembly 124 and is exhausted out of the main body 102. In this regard, the debris can be captured in both the cleaning bin 137 and the filter before the airflow is exhausted out of the main body 102. In some examples, the vacuum assembly 124 and the extractor 113 may be optionally included or of different types. Optionally, the vacuum assembly 124 may be operated during a mopping operation (for example, one involving a mopping system 104). That is, the robot 100 may perform simultaneous vacuuming and mopping missions or operations.

[0021] The cleaning rollers 114a and 114b can be operably connected to an actuator 115 (e.g., a motor) via a gearbox. The cleaning head 113 and the cleaning rollers 114a and 114b can be positioned in front of the cleaning bin 130. The cleaning roller 114 can be mounted on the underside of the main body 102 so that when the underside of the main body 102 faces the floor surface 50, the cleaning rollers 114a and 114b engage with the debris on the floor surface 50 during the cleaning operation.

[0022] The controller 111 can be located within the housing 102 and can be a programmable controller (for example, a single-board computer or multi-board computer, a direct digital controller (DDC), or a programmable logic controller (PLC)). In other examples, the controller 111 can be any computing device, such as a handheld computer, such as a smartphone, tablet, laptop computer, desktop computer, or any other computing device including a processor, memory, and communication capabilities. The memory 126 can be one or more types of memory, such as volatile or non-volatile memory, read-only memory (ROM), random access memory (RAM), magnetic disk storage media, optical storage media, flash memory devices, and other storage devices and media. The memory 126 can be located within the housing 102, can be connected to the controller 111, and can be accessed by the controller 111.

[0023] The controller 111 operates actuators 116a and 116b, enabling the robot 100 to autonomously navigate around the floor surface 50 during the cleaning operation. Actuators 116a and 116b are operable to drive the robot 100 in the forward drive direction, to drive the robot 100 in the backward direction, and to turn the robot 100. The controller 111 also operates the vacuum assembly 124 to generate an airflow, which flows through an air gap near the cleaning roller 114, through the main body 102, and out of the main body 102.

[0024] The robot 100 may include a sensor system comprising one or more sensors. The sensor system may generate one or more signals indicating the current location of the robot 100, as described herein, and may generate signals indicating the location of the robot 100 as it travels along the floor surface 50. Sensor 128 (shown in Figure 2A) may be positioned along the bottom portion of the housing 102. Each of the sensors 128 may be an optical sensor, and the optical sensors may be configured to detect the presence or absence of an object below the optical sensor (e.g., the floor surface 50). Sensor 128 (optionally, a cliff sensor) may be connected to a controller 111 and may be used by the controller 111 to navigate the robot 100 in the environment 40. In some examples, the cliff sensor may be used to detect a type of floor surface that the controller 111 can use to selectively operate the mopping system 104.

[0025] The cleaning pad assembly 108 can be a cleaning pad, which is connected to the bottom portion of the main body 102 (or to a moving mechanism configured to move the assembly 108 between a storage position and a cleaning position), and is connected to a cleaning bin 130, for example, at a location at the rear of the extractor 113. The tank 132 can be a water tank configured to store water or fluid (e.g., cleaning fluid) for delivery to the mopping pad 142. The pump 134 can be connected to the controller 111 and can be in fluid communication with the tank 132. The controller 111 can be configured to operate the pump 134 and deliver fluid to the mopping pad 142 during the mopping operation. For example, the fluid can be delivered to the mopping pad 142 through one or more dispensers 117. The dispensers 117 can be valves or openings, etc., and can be configured to deliver fluid to the floor surface 50 of the environment 40 or directly to the pad 142. In some examples, pad 142 can be a dry pad (for example, for removing dusting or dry debris). Alternatively, pad 142 can be any cloth or fabric configured for cleaning (either wet or dry) the floor surface.

[0026] As shown in Figure 2F, the vacuum assembly 124 can be at least partially positioned within the main body 102 of the robot 100 (for example, within the rear portion 102b of the main body 102). The controller 111 can operate the vacuum assembly 124 to generate an airflow, which flows through an air gap near the cleaning roller 114, through the main body 102, and out of the main body 102. The airflow and the cleaning roller 114 can cooperate to draw the debris 75 into the suction duct 136 of the robot 100 when rotated. The suction duct 136 can extend down to or near the bottom portion of the main body 102 and can be at least partially defined by the cleaning assembly 204.

[0027] The suction duct 136 can be connected to the cleaning head 113 or the cleaning assembly, and can also be connected to the cleaning bin 137. The cleaning bin 137 can be mounted inside the main body 102 and can contain the debris 75 taken in by the robot 100. The filter 145 can be positioned inside the main body 102 and can help separate the debris 75 from the airflow 138 before the airflow 138 enters the vacuum assembly 124 and is exhausted out of the main body 102. In this regard, the debris 75 can be captured in both the cleaning bin 137 and the filter before the airflow 138 is exhausted out of the main body 102. The robot 100 can also include a debris port 135, which can extend at least partially through the main body 102 or the cleaning bin 137 and can operate to remove the debris 75 from the cleaning bin 137 (for example, via a docking station or discharge station).

[0028] The cleaning rollers 114a and 114b can each be operably connected to one or more actuators 115 (e.g., motors). The cleaning head 113 and the cleaning rollers 114a and 114b can be positioned in front of the cleaning bin 137. The cleaning rollers 114a and 114b can be mounted on the housing 224 of the cleaning head 113, and can also be mounted (e.g., indirectly or directly) on the body 102 of the robot 100. In particular, the cleaning rollers 114a and 114b can be mounted on the underside of the body 102 so that when the underside faces the floor surface 50, the cleaning rollers 114a and 114b engage with the debris 75 on the floor surface 50 during the cleaning operation.

[0029] Robot movements In some example operations, the controller 111 can be used to instruct the robot 100 to perform a mission. In such cases, the controller 111 can operate the motor 116 to drive the drive wheel 118 and propel the robot 100 along the floor surface 50. The robot 100 can be propelled in a forward drive direction or a backward drive direction. The robot 100 can also be propelled so that it turns at an appropriate location or turns while moving in a forward drive direction or a backward drive direction. In addition, the controller 111 can operate the motor 115 to cause the rollers 114a and 114b to rotate, as well as operate the side brush assembly 122, and operate the motor of the vacuum system 124 to generate airflow. The controller 111 can execute software stored in memory 126 and, by operating various motors of the robot 100, cause the robot 100 to perform various navigation and cleaning actions.

[0030] Various sensors on the robot 100 can be used to help the robot navigate and clean in the environment 40. For example, a cliff sensor can detect obstacles such as steep slopes and cliffs below the part of the robot 100 where the cliff sensor is installed. The cliff sensor can transmit a signal to the controller 111, which can then reorient the robot 100 based on the signal from the sensor.

[0031] The proximity sensor can generate a signal based on the presence or absence of an object in front of the optical sensor. For example, detectable objects include obstacles such as furniture, walls, people, and other objects in the environment 40 of the robot 100. The proximity sensor can transmit a signal to the controller 111, which can reorient the robot 100 based on the signal from the proximity sensor. In some examples, a bump sensor can be used to detect the movement of a bumper 109 along the longitudinal axis of the robot 100. A bump sensor 139 can also be used to detect the movement of a bumper 109 along one or more sides of the robot 100, and can optionally detect vertical bumper movement. The bump sensor 139 can transmit a signal to the controller 111, which can reorient the robot 100 based on the signal from the bump sensor 139.

[0032] Furthermore, the robot 100 may optionally include one or more dirt sensors 144, which are connected to the main body 102 and communicate with the controller 111. The dirt sensors 144 can be microphones, piezoelectric sensors, or optical sensors, and are positioned in or near the debris flow path, for example, near the opening of the cleaning roller 114, or in one or more ducts within the main body 102. This allows the dirt sensors 144 to detect how much dirt is being taken in by the vacuum assembly 124 (for example, via the extractor 113) at any given time during a cleaning mission. Because the robot 100 knows its location, it can maintain a log or record of which areas or rooms on the map are dirtier or where more dirt is being collected.

[0033] The image capture device 140 can be configured to generate signals based on images of the robot 100's environment 40 as the robot 100 moves around the floor surface 50. The image capture device 140 can transmit such signals to the controller 111. The controller 111 can use one or more signals from the image capture device 140 for various tasks or algorithms, as discussed in more detail below.

[0034] In some examples, the obstacle detection sensor is capable of detecting detectable objects, including obstacles such as furniture, walls, people, and other objects in the environment of the robot 100. In some implementations, the sensor system may include obstacle detection sensors along the side surface, which are capable of detecting the presence or absence of objects adjacent to the side surface. Also, one or more obstacle detection sensors can function as obstacle detection sensors, similar to proximity sensors described herein.

[0035] Furthermore, the robot 100 may include sensors for tracking the distance traveled by the robot 100. For example, the sensor system may include an encoder associated with a motor 116 for a drive wheel 118, the encoder being able to track the distance traveled by the robot 100. In some implementations, the sensors may include an optical sensor facing downward toward the floor surface. The optical sensor may be positioned to direct light toward the floor surface 50 through the bottom surface of the robot 100. The optical sensor may be able to detect the reflection of light and, based on the changes in floor features as the robot 100 travels along the floor surface 50, it may be possible to detect the distance traveled by the robot 100.

[0036] The controller 111 can use data collected by the sensors of the sensor system to control the navigation behavior of the robot 100 during the mission. For example, the controller 111 can use sensor data collected by the robot 100's obstacle detection sensors (cliff sensors, proximity sensors, and bump sensors) to enable the robot 100 to avoid obstacles in its environment during the mission.

[0037] Furthermore, the sensor data can be used by the controller 111 for simultaneous localization and mapping (SLAM) techniques, in which the controller 111 extracts environmental features represented by the sensor data and constructs a map of the floor surface 50 of the environment. The sensor data collected by the image capture device 140 can be used for techniques such as visual-based SLAM (VSLAM), in which the controller 111 extracts visual features corresponding to objects in the environment 40 and constructs a map using these visual features. When the controller 111 orients the robot 100 around the floor surface 50 during the mission, the controller 111 can use SLAM techniques to determine the location of the robot 100 on the map by detecting features represented in the collected sensor data and comparing those features with previously stored features. The map formed from the sensor data can indicate the locations of traversable and non-traversable spaces in the environment. For example, the locations of obstacles can be shown on the map as spaces that cannot be traversed, while the locations of open floor spaces can be shown on the map as spaces that can be traversed.

[0038] Sensor data collected by any of the sensors can be stored in memory 126. In addition, other data generated for SLAM techniques (including mapping data that forms a map) can be stored in memory 126. These data generated during a mission can include persistent data, which is generated during a mission and is available for use between subsequent missions. In addition to storing the software that causes the robot 100 to take its actions, memory 126 can store data resulting from the processing of sensor data for access by the controller 111. For example, a map can be available and updatable by the robot 100's controller 111 from one mission to another, and can navigate the robot 100 around the floor surface 50.

[0039] Persistent data (including persistent maps) can help enable the robot 100 to efficiently clean the floor surface 50. For example, the map can enable the controller 111 to orient the robot 100 toward open floor spaces and avoid spaces that it cannot traverse. In addition, for subsequent missions, the controller 111 can use the map to optimize the paths taken during missions and help plan the navigation of the robot 100 through the environment 40.

[0040] Furthermore, the controller 111 can send commands to the motor (located inside the main body 102) to drive the arm 106 and move the pad assembly 108 between the retracted position (shown in Figures 2A and 2D) and the deployed position (shown in Figures 2C and 2E). In the deployed position, the pad assembly 108 (mopping pad 142) can be used to mop the floor surface of any room in the environment 40.

[0041] The mopping pad 142 can be either a dry or wet pad. Optionally, when the mopping pad 142 is a wet pad, the pump 134 can be operated by the controller 111 to spray or drip a fluid (e.g., water or cleaning solution) onto the floor surface 50 or the mopping pad 142. The wet mopping pad 142 can then be used by the robot 100 to perform a wet mopping operation on the floor surface 50 of the environment 40. As discussed in more detail below, the controller 111 can determine when to dispense the fluid and when to move the pad tray 141 and the mopping pad 142 between the storage position and the cleaning position.

[0042] Examples of docking stations and robots Figure 3 illustrates an isometric view of the mobile cleaning robot 100 and the docking station 300. The docking station 300 may include a canister 346 and a base 348. The components of the docking station 300 may be rigid or semi-rigid components made from materials such as metal, plastic, foam, elastomer, ceramic, composite, or one or more of these combinations. The materials of some components are discussed in more detail below. The docking station 300 (or other docking stations discussed below) is discussed as working with the robot 100, but the docking station 300 (or other docking stations discussed below) can work with a dedicated vacuuming robot for debris collection or with any mobile cleaning robot.

[0043] The canister 346 may include an outer wall portion 350 and an upper portion or lid assembly 352 (which may be a debris bin). The base 348 may include a platform 354 including a track. The platform 354 may also include a vacuum port 356 configured to interface with a debris port 135. The base 348 may be an inclined member including the platform 354, where the base 348 may be configured to receive a mobile cleaning robot 100 on it for maintenance (e.g., charging and removing debris from the mobile cleaning robot). The docking station 300 may also include a docking opening 358 configured to receive the mobile cleaning robot 100 at least partially therein. For example, the mobile cleaning robot 100, along with other features of the mobile cleaning robot 100 and the docking station 300, can move into the docking opening 358 by traversing the platform 354 until the vacuum port 356 aligns with the debris port 135 of the robot 100 (it is also possible to align the charging contacts of the docking station 300 with the contacts of the mobile cleaning robot 100).

[0044] The canister 346 can be the upper portion of the docking station 300 connected to the base 348, where the canister 346 can extend upward from the base 348, and where the canister 346 can be positioned at least partially above the base 348. The outer wall portion 350 of the canister 346 can have a hollow, substantially rectangular shape with rounded corners, where the outer wall portion 350 can define the open upper portion of the canister 346.

[0045] Furthermore, the canister 346 can at least partially support the lid assembly 352 on top of it (for example, above the receiving section 360). The receiving section 360 can be a container or can, such as a garbage can, garbage bin, rubbish can, or rubbish bin, and the receiving section 360 can be configured to receive trash, garbage, or rubbish. The receiving section 360 may be optionally detachable from the outer wall section 350 or removable by the user. The lid assembly 352 may include a lid 362, which may be configured to move between a closed position (shown in Figure 3) and an open position, in which case a trash can or garbage can can be dropped into the receiving section 360 by the user through the lid assembly 352.

[0046] In some example operations, when the robot 100 is docked onto the base 348 and the vacuum port 356 is aligned with the debris port 135, the docking station 300 can be operated to pull debris from the robot 100 (e.g., from a cleaning bin 137, etc.) through the docking station 300 into the receiving section 360 (or into a bag or its liner). Thus, the docking station 300 can function as a trash can or rubbish bin, as well as a debris discharge system for the robot 100. Further details of the docking station 300 and other docking stations are discussed below.

[0047] Network example Figure 4 is a diagram showing a communication network 400 that enables networking between the mobile robot 100 and one or more other devices (docking station 300 (or any of the docking stations discussed herein), mobile device 404 (including a controller), cloud computing system 406 (including a controller), or another autonomous robot separate from the mobile robot 100). Using the communication network 400, the robot 100, mobile device 404, docking station 300, and cloud computing system 406 can communicate with each other, send data to each other, and receive data from each other. In some examples, the robot 100, docking station 300, or both the robot 100 and docking station 300 can communicate with the mobile device 404 through the cloud computing system 406. Alternatively or additionally, the robot 100, docking station 300, or both the robot 100 and docking station 300 can communicate directly with the mobile device 404. Various types and combinations of wireless networks (e.g., Bluetooth, radio frequency, optical-based, etc.) and network architectures (e.g., Wi-Fi or mesh network) can be used by the communication network 400.

[0048] In some examples, the mobile device 404 can be a remote device, which can be linked to a cloud computing system 406 and can also allow the user to provide input. The mobile device 404 can include user input elements, such as one or more of a touchscreen display, buttons, a microphone, a mouse, a keyboard, or other devices that respond to input provided by the user. The mobile device 404 can also include immersive media (e.g., virtual reality or augmented reality), which the user can interact with and provide input from. In these examples, the mobile device 404 can be a virtual reality headset or a head-mounted display.

[0049] The user can provide input corresponding to commands for the mobile robot 100. In such cases, the mobile device 404 can send a signal to the cloud computing system 406, which in turn can send a command signal to the mobile robot 100. In some implementations, the mobile device 404 can present augmented reality images. In some implementations, the mobile device 404 can be a smartphone, laptop computer, tablet computing device, or other mobile device.

[0050] In some examples, the communication network 400 may include additional nodes. For example, a node in the communication network 400 may include an additional robot. Furthermore, a node in the communication network 400 may include a network-connected device capable of generating information about the environment 40. Such a network-connected device may include one or more sensors (e.g., acoustic sensors, image capture systems, or other sensors that generate signals) for detecting characteristics (from which features can be extracted) within the environment 40. The network-connected device may also include a home camera or a smart sensor, etc.

[0051] In communication network 400, wireless links can utilize various communication schemes and protocols, such as Bluetooth Class, Wi-Fi, Bluetooth-low-energy (also known as BLE), 802.15.4, Worldwide Interoperability for Microwave Access (WiMAX), infrared channels, or satellite bands. In some examples, wireless links can include any cellular network standard used to communicate between mobile devices, including, but not limited to, standards that qualify them as 1G, 2G, 3G, 4G, or 5G. Network standards qualify as one or more generations of mobile telecommunications standards, for example, by meeting specifications or standards, such as those maintained by the International Telecommunication Union, where utilized. For example, a 4G standard can correspond to the International Mobile Telecommunications Advanced (IMT-Advanced) specification. Examples of cellular network standards include AMPS, GSM, GPRS, UMTS, LTE, LIE Advanced, Mobile WiMAX, and WiMAX-Advanced. Cellular network standards can utilize various channel access methods, such as FDMA, TDMA, CDMA, or SDMA.

[0052] Example of a docking station Figure 5A illustrates a schematic diagram including a representation of the airflow path design for docking station 500A. Figure 5B illustrates a schematic diagram including a representation of the airflow path design for docking station 500B. Figure 5C illustrates a schematic diagram including a representation of the airflow path design for docking station 500C. Figures 5A to 5C are discussed together below. Docking station 500 can be similar to docking station 300 discussed above, but can include various flow or pressure configurations.

[0053] The docking station 500 may include multiple similar components. For example, as shown in Figures 5A to 5C, the docking station 500 may include a blower 564, which may be a fan connected to a motor, etc., and the fan is configured to generate or create an air stream D (including changes in pressure and airflow path) and transport the debris from the robot 100 into the receiving section 560 through the debris duct 568. The blower 564 may be connected to the receiving section 560 via an outlet plenum 566. The docking station 500 may also include a debris duct 568, which is connected to the receiving section 560 and also connected to a vacuum port (e.g., vacuum port 356).

[0054] The air stream D generated by the blower 564 can pass through the inlet filter 574 and exit from the receiving section 560, the inlet filter 574 may be inspectable by the user. The air stream D can also pass through the outlet plenum 566 before reaching the blower 564 and finally being exhausted into the environment from the blower 564. In some examples, the docking station 500 may include a secondary filtration element 572 on the output side of the blower, which is inspectable by the user.

[0055] Furthermore, the docking station may include several different components or arrangements of components. For example, the docking station 500A may include, or define, a first volume V1, the first volume V1 may be connected to a debris duct 568 and an outlet plenum 566, and the first volume V1 may be at least partially defined by a receiving section 560. The docking station 500A may also include, or define, a second volume V2, the second volume V2 may be connected to a debris duct and at least partially fluidly or physically separated from the first volume V1. The second volume V2 may be at least partially defined by a canister 346. Thus, although the first volume V1 and the second volume V2 can be physically isolated or separated, both can be exposed to a common or similar pressure by being fluidly connected to the blower 564 via the outlet plenum 566. This allows the trash bag or liner positioned in the second volume V2 to behave properly when the debris is introduced into the bag and receiving section 560. For example, the second volume V2 can be connected to the outlet plenum 566 by a stabilizing tube or duct 345. Optionally, the first volume V1 and the second volume V2 can be connected by an alternative stabilizing tube 345a on the inlet side of the volumes.

[0056] The docking station 500B can be configured in a slightly different manner. A first volume V1 can be connected to the outlet plenum 566 and the debris duct 568, and the first volume V1 can be at least partially defined by the receiving section 560. A second volume V2 can be at least partially fluidly connected to the first volume V1, and the second volume can be at least partially defined by the canister 546. That is, the canister 546 and the second volume V2 can be connected to the outlet plenum 566 and the blower 564 via the receiving section 560 and the first volume V1.

[0057] The docking station 500C can be configured in a slightly different manner. The first volume V1 can be connected to the debris duct 568 and the outlet plenum 566, and the first volume V1 can be at least partially defined by the lid assembly 552. That is, the receiving section 560 and the second volume V2 can be connected to the outlet plenum 566 and the blower 564 via the lid assembly 552 and the first volume V1. However, the docking station 500 can also include a door 570 between the first volume V1 and the second volume V2, the door 570 separating volumes V1 and V2 when closed and connecting the volumes when open. Thus, the blower 564 can be operated to draw an air stream through the first volume V1 and inject debris into the first volume V1 and the lid assembly 552 only when the door 570 is closed. When the lid assembly 552 is full, or otherwise when it is desired to release debris from the lid assembly 552 into the receiving section 560, the door 570 can be operated to release the debris into the receiving section 560. In such an example, the blower 564 can be stopped while the debris is being released from the lid assembly 552 into the receiving section 560. Examples of each type of docking station 500 are discussed in more detail below.

[0058] Figure 6A illustrates an isometric view of docking station 300. Figure 6B illustrates an isometric view of docking station 300. Figures 6A and 6B are discussed together below. Docking station 300 can be consistent with Figure 3 discussed above, and docking station 300 can be schematically positioned similarly to docking station 500A. Figures 6A-6B (and other figures below) discuss docking station 300 in more detail. Any of the docking stations discussed above or below can be modified to include the features of docking station 300.

[0059] Figures 6A and 6B show that the docking station 300 may include a debris duct 368 which can be connected to a vacuum port 356. The debris duct 368 may be connected to the lid assembly 352 (for example, at the inlet of the lid assembly 352). The docking station 300 may also include a discharge duct 366 (the discharge duct 366 may optionally be part of the debris duct 368). The discharge duct 366 may be connected to the lid assembly 352 (for example, at the outlet of the lid assembly 352). The lid assembly 352 may be an assembly that can be separated by the user from the rest of the docking station 300 for purposes such as maintenance of the docking station 300 (for example, to remove a garbage bag or liner, or to clean a filter).

[0060] Furthermore, the discharge duct 366 can be connected to a blower 364. The blower 364 can be an electric fan (e.g., axial or centrifugal) configured to generate an air stream (e.g., an air stream). The blower 364 can be connected to a discharge filter 372, which can be positioned at the discharge portion of the canister 346. The blower 364 can be connected to either the canister 346 or the base 348.

[0061] Furthermore, the docking station 300 may include an inlet filter 374. The inlet filter 374 may be connected to the lid assembly 352, and may be connected to the discharge duct 366, and may be positioned at the inlet of the discharge duct 366. The inlet filter 374 may filter at least a portion of the air stream as it exits the lid assembly 352, helping to limit the entry of debris into the discharge duct 366. Similarly, the discharge filter 372 may filter the air stream as it exits the air stream discharge filter 372, helping to limit the discharge of debris into the environment, and helping to reduce the release of odors from the debris or other rubbish or trash into the environment.

[0062] During operation, the blower 364 can be operated to create an air stream, which travels from the mobile cleaning robot 100, through the vacuum port 356, through the debris duct 368, through the lid assembly 352, through the inlet filter 374, through the discharge duct 366, through the discharge filter 372, and out of the canister 346. Debris can be transported from the robot 100 to the debris bin via air stream D. A reduction in the air velocity of air stream A may occur as the debris exits the small cross-section of the debris duct 368 and enters the relatively large volume of the lid assembly 352. This may cause relatively heavy solids to fall out of air stream D. Lighter debris and particles (e.g., dust or small pieces of paper) trapped in the air stream can be removed from air stream D as it passes through filter 374. The function of this filter is to remove any debris that could cause damage to the blower 364 or premature end of its lifespan. The secondary exhaust filter 372 can help remove any remaining particulate matter and reduce the discharge of such substances into the environment.

[0063] Furthermore, Figures 6A and 6B show that the lid assembly 352 may include a lid 362, and that the lid 362 may at least partially cover the opening 376 in the lid assembly 352. The lid 362 may be movable between the open position in Figure 6A and the closed position in Figure 6B. The lid 362 may be sealed against the lid assembly 352 when the lid 362 is in the closed position. The lid 362 may be movable by a user (e.g., by hand or by a foot pedal) or by one or more actuators 378, one or more actuators 378 may be connected to the lid assembly 352 and also connected to or engage with the lid 362. One or more actuators 378 may be connected to a controller 380, which may be a programmable controller (e.g., a single-board computer or a multi-board computer, a direct digital controller (DDC), or a programmable logic controller (PLC)).

[0064] Furthermore, the docking station 300 may include a sensor 382 connected to the lid assembly 352. The sensor 382 may be a motion sensor or a light sensor, etc., configured to generate a signal based on changes in the environment (e.g., movement near the lid 362, e.g., waving a hand). The controller 380 may be configured to operate one or more actuators 378 based on the sensor signals to move the lid 362 between an open position and a closed position. Optionally, the controller 380 may be connected to a blower 364 and may also be configured to operate the blower 364 based on one or more signals, for example, from the robot 100 or the docking station 300. Optionally, the controller 380 may be omitted, and the components of the docking station 300 may communicate with a controller 111 or a mobile device 404, which may control the components of the docking station 300 (e.g., one or more actuators 378 or the blower 364).

[0065] Furthermore, Figures 6A and 6B show that the docking station 300 may include a deflector 384, which may be connected to the lid 362. The deflector 384 may also be a separate piece or component connected to the lid assembly 352. The deflector 384 may be movable with the lid 362 and may be configured to interact with at least a portion of the air stream when the lid 362 is in the closed position, directing the debris towards the receiving section. As shown in Figure 6B, the discharge section of the debris duct 368 may be positioned near the deflector 384, for example, to help direct the air stream towards the deflector 384 and direct the debris from the stream into the receiving section 360.

[0066] Figure 6C illustrates a cross-sectional isometric view of the docking station 300. The docking station 300 in Figure 6C can be consistent with the docking station 300 discussed above, and Figure 6C shows additional details of the docking station 300. For example, Figure 6C shows that the docking station 300 can define a first volume V1 that is fluidly connected to the debris duct 368, and that the first volume V1 is at least partially defined by the receiving portion 360. Also, Figure 6C shows that the docking station 300 can define a second volume V2, and that the second volume V2 can be fluidly connected to the debris duct 368 (for example, through a port 385 that can be connected to the discharge duct 366). The second volume V2 can be at least partially separated from the first volume V1, and that the second volume V2 can be at least partially defined by the canister 346 (for example, the outer wall portion 350).

[0067] Furthermore, Figure 6C shows that the receiving portion 360 may include a lip or ledge portion 386 which may be engaged with a support portion 388. The support portion 388 may be connected to the outer wall portion 350 and may extend radially inward (or laterally inward) from the outer wall portion 350. The support portion 388 may be configured to engage with the ledge portion 386 and support the receiving portion 360 within the canister 346.

[0068] Figure 6D illustrates an isometric view of a portion of the docking station 300. The docking station 300 in Figure 6D can be consistent with the docking station 300 discussed above, and Figure 6D shows additional details of the docking station 300. For example, Figure 6D more clearly shows that port 385 can be connected to the discharge duct 366. In this way, the second volume V2 is fluidically connected to the discharge duct 366, making it possible, for example, to equalize the pressure between the first volume V1 and the second volume V2.

[0069] Furthermore, Figure 6D shows that the receiving section 360 can define one or more bores or holes 390, and that one or more bores or holes 390 can extend through the receiving section. The holes 390 can fluidly connect the inside of the receiving section 360 to a second volume V2, which can help equalize the pressure on both sides of the liner inside the receiving section 360, which helps ensure that the liner inside the receiving section 360 does not expand or move, and which helps ensure that the liner can be easily removed following a debris removal operation. Although two of the holes 390 are shown, the receiving section 360 can contain any number of holes, or an array of one or more holes.

[0070] Figure 7A illustrates an isometric view of docking station 700. Figure 7B illustrates an isometric view of docking station 700. Figures 7A and 7B are discussed together below. Figure 7B shows docking station 700 with the lid removed. Docking station 700 can be schematically positioned similarly to docking station 500B. Any of the docking stations discussed above or below can be modified to include the features of docking station 700.

[0071] Figures 7A and 7B show that the docking station 700 may include a canister 746, which includes an outer wall portion 750. The docking station 700 may also include a base 748, which includes a platform 754. The docking station 700 may also include a debris port 756, which is connected to the platform 754 and configured to interface with the vacuum port of a mobile cleaning robot. The docking station 700 may also include a receiving portion 760, which may be at least partially positioned within the canister 746.

[0072] Furthermore, the docking station 700 may include an upper section or a lid assembly 752, which may be connected to the upper section of the canister 746 (for example, to the outer wall section 750, etc.), and the lid assembly 752 may be movable to provide user access to the internal components. The lid assembly 752 may be optionally removable by the user. Also, Figure 7A shows that the docking station 700 may include a lid 762, which may be connected to the lid assembly 752, and may be movable between an open position and a closed position (shown in Figure 7A) to expose the receiving section 760 to the environment.

[0073] Furthermore, Figures 7A and 7B show that the docking station 700 may include a debris duct 768, which may be connected to a debris port 756 and configured to discharge an air stream into the receiving section 760. Also, Figure 7B shows that the outer wall section 750 may include a support section 788, which is configured to engage with at least a portion of the ledge section 786 of the receiving section 760, for example, to at least partially support the receiving section 760 within the canister 746. The support section 788 may define one or more ports 792a to 792n extending through the support section 788. The ports 792 may be positioned around the support section 788 and the ledge section 786 and their periphery. Port 792 can be configured to receive at least a portion of an air stream through it, and can fluidly connect a first volume V1 to a second volume V2, the first volume V1 can be at least partially defined by the receiving portion 760, and the second volume V2 can be at least partially defined by the canister 746.

[0074] Figure 7A also shows that the docking station 700 may include a discharge duct 766 connected to a discharge filter 772. The discharge duct 766 and discharge filter 772 may be configured to receive at least a portion of the air stream through them before the air stream is discharged from the canister 746. In such a configuration, the discharge filter 772 may be configured to filter the air stream as it exits the discharge filter 772, which may help limit the discharge of debris into the environment and may also help reduce the release of odors from the debris or other rubbish or trash into the environment.

[0075] Figure 7C illustrates an isometric view of a portion of the docking station 700. Figure 7D illustrates an isometric view of a portion of the docking station 700. Figures 7C and 7D are discussed together below. The docking station 700 in Figures 7C and 7D can be consistent with the docking station 700 in Figures 7A and 7B discussed above. Figures 7C and 7D discuss additional details of the docking station 700. For example, Figure 7C shows that when the lid is open, the opening 776 can be left open so that the receiving section 760 is exposed to the environment, allowing trash or rubbish to be dropped into the receiving section 760 by the user.

[0076] Furthermore, Figures 7C and 7D show that the debris duct 768 may include a fixed portion 794 and a movable portion 796. The fixed portion 794 may be connected to a canister, and the movable portion 796 may be connected to the underside of the lid 762. The movable portion 796 may be movable with the lid 762 between an open position and a closed position. When the lid is in the closed position, the movable portion 796 may form a seal with the fixed portion 794, allowing an air stream to travel from the fixed portion 794 through the movable portion 796 and discharge downward toward the receiving portion 760. Optionally, a seal may be formed between the fixed portion 794 and the movable portion 796 by a gasket, or by a tapered interface, or by a portion of the fixed portion 794 being inserted into the movable portion 796 (or by a portion of the movable portion 796 being inserted into the fixed portion 794).

[0077] Figure 7E illustrates an isometric view of a portion of the docking station 700. Figure 7F illustrates an isometric view of a portion of the docking station 700. The docking station 700 in Figures 7E and 7F can be consistent with the docking station 700 in Figures 7A to 7D. Figures 7E and 7F discuss additional details of the docking station 700. For example, Figures 7E and 7F show a blower 764 connected to a discharge duct 766. The blower may be operable to generate an air stream that flows through a debris duct 768 into a receiving section 760, where debris is fed in, and where the air stream can continue into the discharge duct 766.

[0078] Furthermore, Figures 7E and 7F show a discharge grid 798, which can be positioned upstream of the inlet filter 774 and configured to receive at least a portion of the air stream through it. The inlet filter 774 can be configured to filter at least a portion of the air stream before it enters the blower 764. Also, Figure 7F shows that the base 748 can include discharge ports 799a to 799n. Discharge port 799 can be configured to receive at least a portion of the air stream through it (for example, from port 792, etc.), allowing air to flow through the discharge grid 798 and inlet filter 774 to the blower 764 before being discharged into the environment through the opening 776 and discharge filter 772. Optionally, discharge port 799 can deliver the air stream between the discharge grid 798 and the inlet filter 774, as shown in Figure 7G.

[0079] Figure 7G illustrates a side cross-sectional view of a portion of the docking station 700. The docking station 700 in Figure 7G can be consistent with the docking stations 700 in Figures 7A to 7F. Figure 7G shows additional details of the docking station 700. For example, Figure 7G shows how the discharge port 799 can deliver an air stream between the discharge grid 798 and the inlet filter 774, for example, when an air stream enters a third volume V3, and the third volume V3 can be a third volume at least partially defined by the outer wall portion 750 and the receiving portion 760 or another wall portion of the docking station 700. Figure 7G also shows that the first volume V1 and the second volume V2 can be at least partially fluidically connected.

[0080] In some example operations, the air stream can enter the debris port 756 and flow through the debris duct 768 before being discharged by a movable portion 796 within the outer wall portion 750 of the canister 746. The air stream can be discharged downward from the movable portion 796, for example, to feed debris from the robot 100 into the receiving portion 760. The air stream can continue through the port 792 of the support portion 788 and enter a second volume V2, which may be outside the receiving portion 760 and within the outer wall portion 750. The air stream can pass through the discharge grid 798 or the discharge port 799 and continue through the inlet filter 774 to the blower 764 before being discharged from the outer wall portion 750.

[0081] Figure 8A illustrates an isometric view of docking station 800. Figure 8B illustrates an isometric view of docking station 800. Figures 8A and 8B are discussed together below. Docking station 800 can be schematically positioned similarly to docking station 500C. Figures 8A-8B (and other figures below) discuss docking station 800 in more detail. Any of the docking stations discussed above or below can be modified to include the features of docking station 800.

[0082] Figures 8A and 8B show that the docking station 800 may include a canister 846, which includes an outer wall portion 850. The docking station 800 may also include a base 848, which includes a platform 854. The canister 846 may be connected to the base 848, similar to the docking station discussed above. The docking station 800 may also include a debris port 856, which is connected to the platform 854 and configured to interface with the vacuum port of a mobile cleaning robot. The docking station 800 may also include a receiving portion 860, which may be at least partially located within the canister 846.

[0083] Furthermore, the docking station 800 may include an upper section or a lid assembly 852, which may be hinged to the upper section of the canister 846 (for example, the outer wall section 850, etc.), and the lid assembly 852 may be optionally removable by the user. Also, Figures 8A and 8B show that the docking station 800 may include a lid 862, and the lid 862 may be part of the lid assembly 852. The lid 862 may be movable between an open position and a closed position (shown in Figures 8A and 8B) to expose the receiving section 860 to the environment.

[0084] Furthermore, Figures 8A and 8B show that the docking station 800 may include a debris duct 868, which is connected to a debris port 856 on the platform 854. The debris duct 868 may extend through the base 848 and canister 846 and enter the lid assembly 852. The docking station 800 may also include a discharge duct 866, which is connected to the lid assembly 852 and also to a blower 864, which may be a fan (e.g., centrifugal or axial) configured to generate an air stream. The blower 864 may be configured to move the air stream and move debris from the robot 100 through the debris port into the debris duct 868. The lid assembly 852 may separate the debris from the air stream using filtration or inertial separation, for example, to extract the debris from the air stream. Next, this air stream can exit the lid assembly 852 and proceed down the discharge duct 866 to the blower 864 before exiting the docking station 800.

[0085] Figure 8C illustrates an isometric view of a portion of the docking station 800. Figure 8D illustrates an isometric view of a portion of the docking station 800. Figures 8C and 8D are discussed together below. The docking station 800 in Figures 8C and 8D can be consistent with the docking station 800 in Figures 8A and 8B. Figures 8C and 8D discuss additional details of the docking station 800.

[0086] For example, Figure 8C shows that the debris duct 868 may include a discharge portion 802, which may be the discharge portion of the debris duct 868. The discharge portion 802 may be configured to interface with the bore 804 of the lid assembly 852 (for example, by inserting the discharge portion 802 into the bore 804) when the lid 862 is in the closed position, forming a seal between them. The discharge portion 802 may be separated from the lid 862 when the lid 862 is in the open position, as shown in Figure 8C. The seal formed between the discharge portion 802 and the bore 804 when the lid 862 is in the closed position may be via a gasket, a radial seal, a face seal, a geometric shape that can be inserted from one to the other, or some other method for sealing.

[0087] Similarly, the discharge duct 866 may include an inlet portion 806 located at the inlet of the discharge duct 866. The discharge duct 866 may be insertable into the opening 808 of the lid 862 when the lid 862 is moved to the closed position, and may be detachable from the lid 862 when the lid 862 is in the open position, as shown in Figure 8C. Optionally, the opening 808 may be covered by one or more screens or prefilters, etc., to help restrict the movement of debris into the opening 808. The inlet portion 806 and the opening 808 may form a seal between them when the lid 862 is in the closed position (for example, via a gasket, radial seal, face seal, or via insertion of the inlet portion 806 into the opening 808). Furthermore, the docking station 800 may include an inlet filter 874, which may be at least partially positioned within the discharge duct 866 and configured to receive at least a portion of the air stream through it. The inlet filter 874 may be configured to filter at least a portion of the air stream before it enters the blower 864.

[0088] Furthermore, Figures 8C and 8D show that the lid 862 may include a body 810 and a door 812 (similar to the door 570), the door 812 may be hinged to the body 810 (e.g., via a single hinge, multiple hinges, one or more sliding features, or other mechanisms that allow relative movement of the door 812 to the body 810). The door 812 may be movable relative to the body 810 between a closed position (shown in Figure 8C) and an open position (shown in Figure 8D), in which case the lid assembly 852 may retain the debris within it, and in the open position the body 810 may release the debris from the lid assembly 852 into the receiving section 860. The door 812 may be releasably fixed to the body 810, for example, via a manual actuator or an actuator operated by a controller.

[0089] In some example operations, the blower 864 can be operated to create an air stream for pulling debris from a mobile cleaning robot (e.g., robot 100). The air stream can proceed through the debris duct 868, out of the discharge section 802, and into the bore 804 for the collection of debris within the lid assembly 852. The air stream can exit the lid assembly 852 through the opening 808, enter the inlet section 806, and pass through the inlet filter 874. Features within the lid assembly 852 can be operated to separate debris from the air stream, such as, for example, a permeable bag for trapping the debris inside, a conventional filtration system with one or more filter elements, or an inertial separation design such as a centrifugal debris separator. Including one or more of these systems within the lid assembly 852 can help ensure that debris is sufficiently removed from the air stream before reaching the blower 864. Furthermore, when using a bag, the lid assembly 852 may include one or more features within the body 810 to interface with the bag's ports and to help keep the bag inside the lid assembly 852. When using a filter, the lid assembly 852 may include one or more features for inserting or depositing debris into the lid assembly 852 as far away from the opening 808 as possible. The lid assembly 852 may also include one or more features inside the body 810 to help manage the airflow through the lid assembly 852. When using inertial separation, the lid assembly 852 may include one or more features contained within the body 810 to generate the airflow necessary to create separation of debris from the airstream within the body 810.

[0090] Next, the air stream is able to flow through the blower 864 and exit the canister 846. During this process, the debris can collect in a first volume V1, which is at least partially defined by the lid assembly 852. When the blower 864 is turned off, the door 812 is able to be operated to release the debris from the lid assembly 852 into a second volume V2, which is at least partially defined by the receiving section 860. Thus, the second volume V2 can be fluidically isolated or separated from the first volume V1 for the collection of debris in the first volume V1 when the door 812 is closed, and the second volume V2 can be exposed to (or connected to) the first volume V1 when the door is open, allowing the disposal of debris from the first volume V1 into the second volume V2.

[0091] Optionally, the lid assembly 852 may include an actuator communicating with a controller (e.g., controller 111 or controller 380), which can operate the actuator to open or close the door 812 (e.g., to release debris into the receiving section 860). The controller can operate the actuator to open the door 812 and release the debris each time the blower 864 is operated to inject debris into the lid assembly 852, or the controller can operate the actuator to open the door 812 and release the debris periodically or in several stages. For example, the door 812 may be opened every two or three discharges using the blower 864. Alternatively, the door 812 may be opened based on an estimate of the amount of debris in the lid assembly 852. For example, the docking station 800 may include one or more pressure sensors, and the door 812 may be operated to open to allow the lid assembly 852 to be emptied, based on the controller being able to detect a change in pressure (e.g., upstream of the blower 864) and determine that the lid assembly 852 is full, and the controller may open the door 812 when the controller determines that the lid assembly 852 is full.

[0092] In an example where the bag is used inside the lid assembly 852, the lid assembly 852 can be lifted, and the door 812 can be manually opened to remove the breathable debris collection bag from the lid assembly 852. Optionally, the door 812 can be automatically operated by the device for bag removal or replacement.

[0093] Figure 8E illustrates an isometric view of a portion of the docking station 800. The docking station 800 in Figure 8E can be consistent with the docking stations 800 in Figures 8A to 8D. Figure 8E shows the lid 862 with the door removed to expose the first volume V1. In this figure, an opening 808 is shown, which can receive the inlet portion 806 or interface with the inlet portion 806 or the inlet filter 874, for example, to form a seal between the lid 862 and the inlet portion 806.

[0094] Figure 8E also shows a debris removal pipe 814 connected to the bore 804. The debris removal pipe 814 can be fixed to the bore 804, or the bore 804 can be part of the debris removal pipe 814, with the discharge portion 802 being insertable into the debris removal pipe 814 or the debris removal pipe 814 being insertable into the discharge portion 802. Alternatively, the debris removal pipe 814 and the discharge portion 802 can be fitted together via a gasket to form a seal between them. Figure 8E also shows that the debris removal pipe 814 can include one or more elbows or bends to orient the discharge portion of the debris removal pipe 814 toward the lid 862 away from the opening 808, which helps to limit the air stream from short-cycling through the lid 862.

[0095] Figure 8F illustrates an isometric view of a portion of the docking station 800. Figure 8G illustrates an isometric view of a portion of the docking station. The docking station 800 can be similar to the docking station 800 discussed above, except that the docking station 800 can include an upper section 852a which includes two doors. Either of the docking stations discussed above or below can be modified to include the features of the upper section 852a.

[0096] The upper portion 852a can be configured similarly to the lid assembly 852, but may include doors 812a and 812b, which can be pivotally connected (or hinged) to the body portion 810 (or lid 862) of the lid assembly 852, respectively. Doors 812a and 812b may be movable between a closed position (shown in Figure 8F) and an open position (shown in Figure 8G). The lid assembly 852 may include a gasket or seal between doors 812a and 812b, forming a seal between them. Doors 812a and 812b may also form a seal with the body portion 810. Optionally, doors 812a and 812b can overlap to form a seal. By using two doors, the distance that doors 812a and 812b extend into the receiving portion 860 can be reduced.

[0097] Figure 9 illustrates an isometric view of a portion of the docking station 900. The docking station 900 may be similar to the docking station discussed above, and may include an upper section or lid assembly 952 including a movable door. Any of the docking stations discussed above or below may be modified to include the features of the docking station 900.

[0098] The lid assembly 952 may be, or may include, a lid 962 that can be pivotably connected to a canister (e.g., canister 846) for purposes such as providing access to a receiving section (e.g., receiving section 860). The lid 962 may include a body 910 and doors 912a and 912b connected thereto. The doors 912a and 912b may be configured to move between a closed position (shown in Figure 9) for sealing the volume of the lid assembly 952 and an open position that allows debris to be released from the lid assembly 952 into the receiving section. The lid assembly 952 may also include an actuator 916 that may be operable by the user to move the doors 912a and 912b between the open and closed positions. The actuator 916 can be configured to move one or both of the doors 912a and 912b to release debris from the lid assembly 952 into the receiving section. Optionally, the lid 962 can contain fewer or more doors (e.g., one, three, four, or five). The use of parallel-moving doors can limit the extension of the doors toward the receiving section. Optionally, the actuator 916 can be biased to return doors 912a and 912b to the closed position when the actuator 916 is released.

[0099] Figure 10 illustrates an isometric view of the docking station 1000. The docking station 1000 may be similar to the docking station discussed above, and may include an upper section or lid assembly 1052 including a revolving door or barrel valve. Any of the docking stations discussed above or below may be modified to include the features of the docking station 1000.

[0100] More specifically, the lid assembly 1052 can be connected to a canister 1046 (for example, its outer wall portion 1050, etc.). The canister 1046 can support a receiving portion 1060 configured to receive debris, garbage, or rubbish, etc. The lid assembly 1052 can include a body portion 1010 and a dispenser assembly 1018 connected to the body portion 1010. The dispenser assembly 1018 can include a housing 1020 and a revolving door 1022. The dispenser assembly 1018 can also include an actuator 1024, which is connected to the revolving door 1022 and configured to rotate the revolving door 1022 relative to the housing 1020 and body portion 1010. The actuator 1024 can be a manual (operated by a user) actuator or can communicate with a controller (for example, controller 380).

[0101] During operation, an air stream can be generated to flow through the dispenser assembly 1018, for example, via a blower or fan (e.g., blower 864). The dispenser assembly 1018 is capable of collecting debris from the air stream as it passes through the dispenser assembly 1018. When desired, the user (or controller) can operate the actuator 1024 to rotate the revolving door 1022 in the dispenser assembly 1018 and release the debris into the receiving section 1060. By including the revolving door 1022, the docking station 1000 is capable of avoiding or limiting the extension of any components into the receiving section 1060 while loading debris into the receiving section 1060, and helps limit the interaction between the revolving door 1022 and the debris, garbage, or trash in the receiving section 1060.

[0102] Figure 11 illustrates an isometric view of the docking station 1100. The docking station 1100 can be similar to the docking station discussed above, and the docking station 1100 can include components for pad cleaning. Any of the docking stations discussed above or below can be modified to include the features of the docking station 1100.

[0103] The docking station 1100 may include a base 1148 connected to a canister 1146, the canister may include an outer wall 1150 configured to at least partially support the receiving section 1160 therein. The docking station 1100 may also include a lid assembly 1152, which may be, or may include, a lid movable between an open position and a closed position for access to the receiving section 1160 (for example, for dropping trash or garbage into it). The docking station 1100 may also include an discharge system for loading debris from a mobile cleaning robot into the receiving section 1160, as discussed above.

[0104] Furthermore, the docking station 1100 may include various components to support pad cleaning (for example, an agitator 1126 configured to engage with and scrub a cleaning pad (e.g., a mopping pad 142)). The docking station 1100 may also include an actuator 1128, which may communicate with a controller and be operable to move (e.g., rotate) the agitator 1126. The docking station 1100 may also include a clean water tank 1130 and a wastewater tank 1132, the clean water tank being capable of delivering fluid for pad cleaning or to fill the tank of the robot 100, and the wastewater tank 1132 being capable of receiving wastewater from the agitator 1126 or the storage section of the docking station 1100.

[0105] Furthermore, the docking station 1100 may include a user interface 1161, which may be connected to an external part of the canister 1146 or lid assembly 1152 (or another part of the docking station 1100). The user interface 1161 may be any display or input device. For example, the user interface 1161 may be a touchscreen display. In another example, the user interface 1161 may include a light, a button, or a switch. The user interface 1161 may be configured to display information (for example, information received from a controller (for example, controller 380)) (for example, via a display screen or a light). The user interface 1161 may be configured to receive input from a user (for example, via a display screen or a button), and the user interface 1161 may transmit the received input to the controller. The user interface 1161 can be operated by the user to perform various functions of the docking station 1100, such as robot discharge, opening the lid 1162 (or upper part), discarding debris from the lid assembly 1152 into the receiving section 1160, or cleaning the pads.

[0106] Figure 12 illustrates an isometric view of docking station 1200. Docking station 1200 can be similar to docking station 800 discussed above, and similar figures can represent similar components. Docking station 1200 may include a sweep port configured to receive debris from the floor. Any of the docking stations discussed above or below may include the features of docking station 1200.

[0107] More specifically, the docking station 1200 may include a sweep port 1234, which may extend at least partially through the base 1248 or canister 1246 of the docking station 1200. The sweep port 1234 may be connected to a sweep duct 1236, which may be connected to a debris duct 1268. The docking station 1200 may also include a valve 1238, which may be movable to guide at least a portion of the air stream through the sweep port 1234 or debris port 1256, as discussed with respect to Figures 13A and 13B. The docking station 1200 may also include an actuator 1240, which may be operable to move the valve 1238 or to operate a blower 1264 to generate an air stream. Optionally, actuator 1240 can be a button, and valve 1238 and blower 1264 can be connected to a controller, which can receive signals from the button and operate valve 1238 and blower 1264.

[0108] Figure 13A illustrates a schematic diagram of valve 1238 of docking station 1200. Figure 13B illustrates a schematic diagram of valve 1238 of docking station 1200. Figures 13A and 13B are discussed together below. Figures 13A and 13B show that valve 1238 can be connected to debris port 1256, sweep duct 1236, and debris duct 1268. As shown in Figure 13A, the valve can be operated to block the flow through debris port 1256, allowing an air stream (D) to flow from sweep duct 1236 into debris duct 1268. As shown in Figure 13B, the valve can be operated to block the flow through sweep duct 1236, allowing an air stream (D) to flow from debris port 1256 into debris duct 1268.

[0109] Thus, the docking station 1200 can be used to discharge debris from a mobile cleaning robot into the receiving section 1260, and the docking station 1200 can be used to discharge debris from the floor environment into the receiving section 1260, and the docking station 1200 can be used to perform several cleaning functions.

[0110] System example Figure 14 illustrates a block diagram of an exemplary machine 1400 capable of implementing any one or more of the techniques (e.g., methodologies) discussed herein. As described herein, the example may include, or be capable of operating by, logic or a set of components or mechanisms within machine 1400. A circuit (e.g., a processing circuit) is a collection of circuits implemented within the tangible entities of machine 1400, including hardware (e.g., simple circuits, gates, logic, etc.). Circuit membership may be flexible over time. A circuit includes components that can perform specific operations individually or in combination when operating. In one example, the hardware of a circuit may be designed immutably to perform a specific operation (e.g., hardwired). In one example, the hardware of a circuit may include variably connected physical components (e.g., execution units, transistors, simple circuits, etc.), including a machine-readable medium that is physically modified to encode instructions for a specific operation (e.g., a magnetically, electrically, or movable placement of particles of invariant mass). When connecting physical components, the fundamental electrical properties of the hardware components are changed, for example, from an insulator to a conductor, or vice versa. Instructions allow embedded hardware (e.g., an execution unit or loading mechanism) to generate components of a circuit within the hardware via variable connections, performing a specific part of an operation while in operation. Thus, in one example, a machine-readable medium element is either part of a circuit or communicatively connected to other components of a circuit while the device is in operation. In one example, any of the physical components can be used in two or more components of two or more circuits. For example, under operation, an execution unit can be used in a first circuit of a first circuit at one point in time, and at different times, it can be reused by a second circuit within the first circuit, or by a third circuit within the second circuit.Additional examples of these components for Machine 1400 are shown below.

[0111] In an alternative embodiment, machine 1400 can operate as a standalone device or can be connected to other machines (e.g., networked). In a networked deployment, machine 1400 can operate within the capacity of a server machine, within the capacity of a client machine, or in a server-client network environment of both. For example, machine 1400 can act as a peer machine in a peer-to-peer (P2P) (or other distributed) network environment. Machine 1400 can be a personal computer (PC), tablet PC, set-top box (STB), personal digital assistant (PDA), mobile phone, web appliance, network router, switch or bridge, or any machine capable of performing instructions (sequential or otherwise) that specify the actions to be taken by that machine. Furthermore, although only a single machine is illustrated, the term “machine” shall also be interpreted to include any collection of machines individually or collectively performing any one or more of the methodologies discussed herein, such as cloud computing, software as a service (SaaS), other computer cluster configurations, etc.

[0112] The machine (e.g., a computer system) 1400 may include a hardware processor 1402 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), main memory 1404, static memory (e.g., memory or storage for firmware, microcode, basic-input-output (BIOS), Unified Extensible Firmware Interface (UEFI), etc.) 1406, and mass storage 1408 (e.g., a hard drive, tape drive, flash storage, or other block device), some or all of which may communicate with each other via an interlink (e.g., a bus) 1430. The machine 1400 may further include a display unit 1410, an alphanumeric input device 1412 (e.g., a keyboard), and a user interface (UI) navigation device 1414 (e.g., a mouse). In one example, the display unit 1410, the input device 1412, and the UI navigation device 1414 may be touchscreen displays. Machine 1400 may additionally include a storage device (e.g., a drive unit) 1408, a signal generating device 1418 (e.g., a speaker), a network interface device 1420, and one or more sensors 1416, such as a Global Positioning System (GPS) sensor, a compass, an accelerometer, or other sensors. Machine 1400 may also include an output controller 1428, such as a serial (e.g., Universal Serial Bus (USB)), parallel, or other wired or wireless (e.g., infrared (IR), near-field communication (NFC), etc.) connection, which can communicate with or control one or more peripheral devices (e.g., a printer, a card reader, etc.).

[0113] The registers of the processor 1402, main memory 1404, static memory 1406, or mass storage 1408 may be or may contain machine-readable media 1422, and one or more sets of data structures or instructions 1424 (e.g., software) that embody or utilize any one or more of the techniques or functions described herein are stored on the machine-readable media 1422. Furthermore, the instructions 1424 may, entirely or at least partially, reside in any of the registers of the processor 1402, main memory 1404, static memory 1406, or mass storage 1408 during their execution by the machine 1400. In one example, one or any combination of the hardware processor 1402, main memory 1404, static memory 1406, or mass storage 1408 can constitute machine-readable media 1422. Although the machine-readable medium 1422 is illustrated as a single medium, the term “machine-readable medium” can include a single or multiple mediums configured to store one or more instructions 1424 (for example, a centralized or distributed database, and / or associated caches and servers).

[0114] The term “machine-readable medium” can include any medium capable of storing, encoding, or carrying instructions for execution by machine 1400, any medium causing machine 1400 to perform any one or more of the techniques of the present disclosure, or any medium capable of storing, encoding, or carrying data structures used by or associated with such instructions. Examples of non-limiting machine-readable mediums can include solid-state memory, optical mediums, magnetic mediums, and signals (e.g., radio frequency signals, other photon-based signals, acoustic signals, etc.). In one example, a non-transient machine-readable medium includes a machine-readable medium comprising a plurality of particles having an invariant mass (e.g., rest mass), and is therefore a composition of matter. Thus, a non-transient machine-readable medium is a machine-readable medium that does not contain transient propagating signals. Specific examples of non-temporary machine-readable media may include non-volatile memory such as semiconductor memory devices (e.g., electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM)) and flash memory devices, magnetic disks such as internal hard disks and removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks.

[0115] Instruction 1424 can be further transmitted or received over a communication network 1426 using a transmission medium via a network interface device 1420 that utilizes one of several transport protocols (e.g., Frame Relay, Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), etc.). Illustrative communication networks may include, among others, local area networks (LANs), wide area networks (WANs), packet data networks (e.g., the Internet), mobile phone networks (e.g., cellular networks), Plain Old Telephone (POTS) networks, wireless data networks (e.g., the IEEE 802.11 standard family known as WiFi®, the IEEE 802.16 standard family known as WiMAX®), the IEEE 802.15.4 standard family, and peer-to-peer (P2P) networks. In one example, the network interface device 1420 may include one or more physical jacks (e.g., Ethernet, coaxial, or phone jacks) or one or more antennas to connect to the communication network 1426. In another example, the network interface device 1420 may include multiple antennas and may communicate wirelessly using at least one of the following techniques: single input multiple output (SIMO), multiple input multiple output (MIMO), or multiple input single output (MISO). The term "transmission medium" is to be interpreted as including any intangible medium capable of storing, encoding, or carrying instructions for execution by machine 1400, including digital or analog communication signals or other intangible mediums for facilitating the communication of such software. The transmission medium is a machine-readable medium.

[0116] Notes and Examples The following non-limiting embodiments, in particular, detail specific aspects of the subject matter that address and provide benefits to the problems discussed herein.

[0117] Embodiment 1 is a docking station for a mobile cleaning robot, the docking station comprising a base configured to receive at least a portion of a mobile cleaning robot on it, the base comprising a base including a debris port, a canister, the canister connected to the base and positioned at least partially above the base, the canister comprising a debris duct, the debris duct connected to the debris port and configured to receive an air stream from the mobile cleaning robot, a lid assembly, the lid assembly connected to the debris duct and configured to receive at least a portion of an air stream from the mobile cleaning robot, and a receiving portion connected to the lid assembly, the receiving portion configured to receive at least a portion of an air stream or debris from the lid assembly.

[0118] In Example 2, the subject of Example 1 optionally includes a debris blower connected to the canister or base, which is operable to create an air stream that travels from a mobile cleaning robot through the debris port and debris duct, through the lid assembly, and out of the canister.

[0119] In Example 3, the subject of Example 2 optionally includes a discharge duct connected to a canister, the discharge duct configured to receive at least a portion of an air stream through it, and a filter, the filter connected to the discharge duct and configured at least partially to receive at least a portion of an air stream through it.

[0120] In Example 4, any one or more subjects from Examples 1 to 3 optionally include a pad cleaning system including an agitator that can engage with the cleaning pad of a mobile cleaning robot, a clean water tank configured to deliver clean liquid to the mobile cleaning robot and the pad cleaning system, and a dirty water tank configured to receive dirty water from the pad cleaning system.

[0121] In Example 5, any one or more subjects of Examples 1 to 4 is a sweep port extending at least partially through a base or canister, the sweep port optionally including a sweep port connected to a debris duct and a valve movable to guide at least a portion of an air stream through the sweep port or debris port.

[0122] In Example 6, any one or more subjects from Examples 1 to 5 optionally include a lid connected to a receiving portion, which is movable between an open position and a closed position, in which case the receiving portion is open to the environment.

[0123] In Example 7, any one or more subjects of Examples 1 to 6 optionally include a discharge duct connected to a lid assembly and a receiving portion, the discharge duct being configured to receive at least a portion of an air stream through it, and a first volume connected to a debris duct, the first volume being at least partially defined by the receiving portion, and a second volume connected to a debris duct and at least partially fluidly isolated from the first volume, the second volume being at least partially defined by a canister.

[0124] In Example 8, the subject of Example 7 optionally includes a port connected to the discharge duct, the port being configured to fluidly connect a second volume to the discharge duct.

[0125] In Example 9, any one or more subjects of Examples 6 to 8 optionally include a lid actuator connected to the lid, a lid sensor connected to the canister or lid, the lid sensor being configured to produce a lid signal, and a controller communicating with the lid actuator, the controller being configured to operate the lid actuator based on the lid signal.

[0126] In Example 10, the subject of Example 9 optionally includes a deflector connected to the lid, which is configured to interact with at least a portion of the air stream and direct the debris toward the receiving area.

[0127] In Example 11, any one or more subjects of Examples 1 to 10 optionally include a discharge duct connected to a canister, the discharge duct configured to receive at least a portion of an air stream through it, and a first volume connected to a debris duct, the first volume being at least partially defined by a receiving portion, and a second volume being at least partially fluidly connected to the first volume, the second volume being at least partially defined by a canister.

[0128] In Example 12, the subject of Example 11 optionally includes a lid connected to the receiving portion, which is movable between an open position and a closed position, in which case the receiving portion is open to the environment.

[0129] In Example 13, the subject of Example 12 is further modified so that the debris duct includes a fixed portion connected to the canister and a movable portion connected to the underside of the lid, the movable portion optionally being movable together with the lid between an open position and a closed position.

[0130] In Example 14, any one or more subjects from Examples 11-13 optionally include a canister, the canister including a support portion that can engage with a portion of the receiving portion to support the receiving portion within the canister, the support portion defining a plurality of ports configured to receive at least a portion of an air stream through it.

[0131] In Example 15, any one or more subjects of Examples 1 to 14 is a discharge duct connected to a canister, the discharge duct being configured to receive at least a portion of an air stream through it, and optionally a first volume connected to a debris duct, the first volume being at least partially defined by the debris duct, and a second volume being at least partially fluidly isolated from the first volume, the second volume being at least partially defined by a receiving portion.

[0132] In Example 16, any one or more subjects from Examples 11 to 15 optionally include a lid connected to a receiving portion and movable between an open position and a closed position, wherein in the open position the receiving portion is open to the environment and the lid forms at least a portion of the lid assembly.

[0133] In Example 17, the subject of Example 16 is a bin door connected to a lid and lid assembly, the bin door being operable to move between a closed position for holding debris in the lid and lid assembly and an open position for dispensing debris from the lid and lid into the receiving section, and optionally including a bin door actuator, the bin door actuator being connected to the bin door and operable to move the bin door between the open position and the closed position.

[0134] In Example 18, the subject of Example 17 optionally includes a lid sensor connected to a canister or lid, the lid sensor being configured to produce a lid signal, and a controller communicating with a bin door actuator, the controller being configured to operate the bin door actuator based on the lid signal.

[0135] In Example 19, any one or more subjects from Examples 17-18 optionally include a lid and a receiving portion that form a seal between them, thereby at least partially fluidly separating the first volume from the second volume.

[0136] Embodiment 20 is a docking station for a mobile cleaning robot, the docking station comprising a base configured to receive at least a portion of a mobile cleaning robot on it, the base comprising a base including a debris port, and a canister, the canister being connected to the base and at least partially positioned above the base, the canister comprising a debris duct connected to the debris port, a lid assembly connected to the debris duct, and a receiving portion connected to the lid assembly, the receiving portion being configured to receive debris from the lid assembly or the debris duct, the docking station comprising a canister comprising a debris duct connected to the debris port, a lid assembly connected to the debris duct, and a receiving portion connected to the lid assembly, the receiving portion being configured to receive debris from the lid assembly or the debris duct.

[0137] In Example 21, the subject of Example 20 optionally includes a debris blower connected to the canister or base, which is operable to create an air stream that travels from a mobile cleaning robot through the debris port and debris duct, through the lid assembly, and out of the canister.

[0138] In Example 22, the subject of Example 21 optionally includes a discharge duct connected to a canister, the discharge duct configured to receive at least a portion of an air stream through it, and a filter connected to the discharge duct and configured at least partially to receive at least a portion of an air stream through it.

[0139] In Example 23, any one or any combination of the apparatus or method from Examples 1 to 22 can be optionally configured such that all described elements or options are available for use or selection.

[0140] The above detailed description includes references to the accompanying drawings, which form part of the detailed description. The drawings illustrate specific embodiments in which the present invention may be put into practice. These embodiments are also referred to herein as “examples.” Such examples may include elements in addition to those shown or described. However, the inventors also intend examples in which only those elements shown or described are provided. Furthermore, the inventors also intend examples using any combination or permutation of those elements shown or described (or one or more embodiments thereof) with respect to a particular example (or one or more embodiments thereof) or with respect to any other example (or one or more embodiments thereof) shown or described herein.

[0141] In the event of any conflicting use between this document and any document incorporated in this manner by reference, the use in this document shall prevail.

[0142] In this document, the terms "a" or "an" are used to include one or more, independently of any other instances or uses of "at least one" or "one or more," as is common in patent literature. In this document, the term "or" is used to indicate non-exclusiveness, or, unless otherwise indicated, "A or B" is used to include "A but not B," "B but not A," and "A and B." In this document, the terms "including" and "in which" are used as plain English equivalents of the terms "comprising" and "wherein," respectively. Furthermore, in the following claims, the terms "including" and "comprising" are open-ended, meaning that a system, device, article, composition, formulation, or process that includes elements in addition to those enumerated after such terms in a claim is still considered to be within the scope of that claim. Furthermore, in the following claims, terms such as “first,” “second,” and “third” are used merely as labels and are not intended to impose numerical requirements on those subjects.

[0143] The above description is intended to be illustrative and not restrictive. For example, the examples (or one or more embodiments thereof) described above can be used in combination with each other. Other embodiments can be used, for example, by those skilled in the art who have considered the above description. The abstract is provided in accordance with 37 CFR 1.72(b) to enable the reader to quickly understand the nature of the technical disclosure. The abstract is submitted with the understanding that it is not to be used to interpret or limit the claims or their meaning. Also, in the above detailed description, various features can be grouped together to simplify the disclosure. This should not be interpreted as meaning that any disclosed feature not claimed is essential to any claim. Rather, the inventive subject matter may reside in fewer features than all the features of a particular disclosed embodiment. Accordingly, the following claims are incorporated into the detailed description as examples or embodiments, and it is intended that each claim stands alone as a separate embodiment, and that such embodiments can be combined with each other in various combinations or permutations. The scope of the present invention should be determined by reference to the appended claims, along with the entire scope of equivalents to which such claims are protected. [Explanation of Symbols]

[0144] 40 Environment 42 rooms Rooms 42a-42e 44 beds 46 tables 48 Island 50 Floor surface 50a~50e Floor surface 52. Rugs 54 Behavioral Control Zone 60 users 75 Debris 100 Mobile Cleaning Robots 102 Main body 102b Rear part 104 Mopping System 106 Arm 106a, 106b Arms 108 Pad Assembly 109 Bumper 111 Controller 113 Extractor, Cleaning Head, Cleaning Assembly 114 Cleaning Roller 114a, 114b Cleaning rollers 115 Actuators, Motors 116a, 116b Actuators, Motors 117 Dispenser 118a, 118b drive wheel 120 casters 122 Side Brush Assembly 124 Vacuum Assembly 126 memory 128 sensors 130 Lid Assembly 132 tanks 134 Pumps 135 Debris Port 136 Suction duct 137 Cleaning Bin 138 Airflow 139 Bump sensor 140 Image Capture Devices 141 Pad Tray 142 Mopping Pad 144 Dirt Sensor 145 filters 204 Cleaning Assembly 224 Housing 300 Docking Stations 345 Stabilizing tubes, ducts 345a Alternative stabilization tube 346 Canister 348 base 350 Outer wall 352 Upper section, lid assembly 354 platforms 356 Vacuum Port 358 Docking opening 360 Receptor 362 Lid 364 Blower 366 Discharge duct 368 Debris Duct 372 Discharge filter 374 Inlet filter 376 Opening 378 Actuator 380 Controller 382 sensors 384 Deflector 385 ports 386 Lip, ledge section 388 Support part 390 Bore, Hole 400 Communication Networks 404 Mobile Devices 406 Cloud Computing Systems 500A Docking Station 500B Docking Station 500C Docking Station 552 Lid Assembly 560 Receptor part 564 Blower 566 Exit Plenum 568 Debris Duct 570 doors 572 Secondary filtration element 574 Inlet filter 700 Docking Station 746 Canister 748 Base 750 Outer wall 752 Upper section, lid assembly 754 Platforms 756 Debris Port 760 Receptor part 762 Lid 764 Blower 766 Discharge duct 768 Debris Duct 772 Discharge filter 774 Inlet filter 776 Opening 786 Ledge section 788 Support part 792 ports Ports 792a to 792n 794 Fixed part 796 Movable parts 798 Discharge grid 799 Discharge Port 799a~799n Discharge Ports 800 Docking Stations 802 Discharge part 804 Bore 806 Entrance section 808 Opening 810 Main Unit 812 doors Doors 812a and 812b 814 Debris Evacuation Pipe 846 Canister 848 Base 850 Outer wall 852 Upper section, lid assembly 852a Upper part 854 Platforms 856 Debris Port 860 Receptor 862 Lid 864 Blower 866 Discharge duct 868 Debris Duct 874 Inlet filter 900 Docking Station 910 Main Unit 912a, 912b doors 916 Actuator 952 Upper section, lid assembly 962 Lid 1000 docking stations 1010 Main body 1018 Dispenser Assembly 1020 Housing 1022 Revolving Door 1024 Actuator 1046 Canister 1050 Outer wall 1052 Upper section, lid assembly 1060 Receptor part 1100 Docking Station 1126 Agitator 1128 Actuator 1130 Clean water tank 1132 Sewage tank 1146 Canister 1148 Base 1150 Outer wall 1152 Lid Assembly 1160 Receptor part 1161 User Interface 1162 Lid 1200 Docking Stations 1234 Sweep Port 1236 Sweep Duct 1238 Valve 1240 Actuator 1246 Canister 1248 Base 1256 Debris Port 1260 Receptor part 1264 Blower 1268 Debris Duct 1400 Machine 1402 Hardware Processor 1404 Main Memory 1406 Static memory 1408 Mass Storage 1410 Display Unit 1412 Alphanumeric input device 1414 User Interface (UI) Navigation Devices 1416 Sensor 1418 Signal Generating Devices 1420 Network Interface Device 1422 Machine-readable media 1424 Instructions 1426 Communication Network 1428 Output Controller 1430 Interlink D Air Stream V1 First volume V2 Second volume

Claims

1. A docking station for a mobile cleaning robot, wherein the docking station is A base configured to receive at least a portion of the mobile cleaning robot thereon, the base includes a debris port, A canister, wherein the canister is connected to the base and is at least partially positioned above the base. Includes, The aforementioned canister is A debris duct, wherein the debris duct is connected to the debris port and is configured to receive an air stream from the mobile cleaning robot, A lid assembly, the lid assembly being connected to the debris duct and configured to receive at least a portion of the air stream from the mobile cleaning robot, A receiving portion connected to the lid assembly, wherein the receiving portion is configured to receive at least a portion of the air stream or debris from the lid assembly, and A docking station, including one.

2. The docking station according to claim 1, comprising a debris blower connected to the canister or the base, wherein the debris blower is operable to produce the air stream from the mobile cleaning robot, through the debris port and the debris duct, through the lid assembly, and out of the canister.

3. A discharge duct connected to the canister, the discharge duct being configured to receive at least a portion of the air stream through it, A filter, wherein the filter is connected to the discharge duct and is configured to at least partially receive at least a portion of the air stream through it, and The docking station according to claim 2, including the above.

4. A pad cleaning system including an agitator that can engage with the cleaning pad of the mobile cleaning robot, A clean water tank configured to deliver clean liquid to the mobile cleaning robot and the pad cleaning system, A wastewater tank configured to receive wastewater from the aforementioned pad cleaning system and A docking station according to any one of claims 1 to 3, including the above.

5. A sweep port extending at least partially through the base or the canister, the sweep port being connected to the debris duct, A movable valve that guides at least a portion of the air stream through the sweep port or the debris port. A docking station according to any one of claims 1 to 4, including the above.

6. A docking station according to any one of claims 1 to 5, comprising a lid connected to the receiving portion and movable between an open position and a closed position, wherein in the open position, the receiving portion is open to the environment.

7. A discharge duct connected to the lid assembly and the receiving portion, wherein the discharge duct is configured to receive at least a portion of the air stream through it, A first volume connected to the debris duct, wherein the first volume is at least partially defined by the receiving portion, A second volume, the second volume being connected to the debris duct and at least partially fluidly isolated from the first volume, and the second volume being at least partially defined by the canister, and A docking station according to any one of claims 1 to 6, including the above.

8. The docking station according to claim 7, comprising a port connected to the discharge duct, wherein the port is configured to fluidly connect the second volume to the discharge duct.

9. The lid actuator connected to the lid, A lid sensor connected to the canister or the lid, wherein the lid sensor is configured to generate a lid signal, A controller that communicates with the lid actuator, wherein the controller is configured to operate the lid actuator based on the lid signal, and A docking station according to any one of claims 1 to 8, including the above.

10. The docking station according to claim 9, comprising a deflector connected to the lid, the deflector being configured to interact with at least a portion of the air stream and direct the debris toward the receiving portion.

11. A discharge duct connected to the canister, the discharge duct being configured to receive at least a portion of the air stream through it, A first volume connected to the debris duct, wherein the first volume is at least partially defined by the receiving portion, A second volume at least partially fluidly connected to the first volume, wherein the second volume is at least partially defined by the canister. The docking station according to claim 1, including the following:

12. The docking station according to claim 11, comprising a lid connected to the receiving portion and movable between an open position and a closed position, wherein in the open position, the receiving portion is open to the environment.

13. The docking station according to claim 12, wherein the debris duct includes a fixed portion connected to the canister and a movable portion connected to the lower surface of the lid, the movable portion being movable together with the lid between the open position and the closed position.

14. The docking station according to any one of claims 11 to 13, wherein the canister includes a support portion within the canister that is engageable with a portion of the receiving portion to support the receiving portion, and the support portion defines a plurality of ports configured to receive at least a portion of the air stream through it.

15. A discharge duct connected to the canister, the discharge duct being configured to receive at least a portion of the air stream through it, A first volume connected to the debris duct, wherein the first volume is at least partially defined by the debris duct, A second volume that is at least partially fluidly isolated from the first volume, wherein the second volume is at least partially defined by the receiving portion. The docking station according to claim 1, including the following:

16. The docking station according to claim 15, comprising a lid connected to the receiving portion and movable between an open position and a closed position, wherein in the open position the receiving portion is open to the environment and the lid forms at least a portion of the lid assembly.

17. A bin door connected to the lid and the lid assembly, the bin door being operable to move between a closed position for holding debris in the lid and the lid assembly and an open position for dispensing debris from the lid assembly and the lid into the receiving portion, A bin door actuator, wherein the bin door actuator is connected to the bin door and is operable to move the bin door between an open position and a closed position. The docking station according to claim 16, including the following:

18. A lid sensor connected to the canister or the lid, wherein the lid sensor is configured to generate a lid signal, A controller communicating with the bin door actuator, wherein the controller is configured to operate the bin door actuator based on the lid signal, and The docking station according to claim 17, including the following:

19. The docking station according to any one of claims 17 to 18, wherein the lid and the receiving portion form a seal between them, at least partially fluidly separating the first volume from the second volume.

20. A docking station for a mobile cleaning robot, wherein the docking station is A base configured to receive at least a portion of the mobile cleaning robot thereon, the base includes a debris port, A canister, wherein the canister is connected to the base and is at least partially positioned above the base. Includes, The aforementioned canister is A debris duct connected to the aforementioned debris port, A lid assembly connected to the debris duct, A receiving portion connected to the lid assembly, wherein the receiving portion is configured to receive debris from the lid assembly or the debris duct, and A docking station, including one.

21. The docking station according to claim 20, comprising a debris blower connected to the canister or the base, wherein the debris blower is operable to produce an air stream from the mobile cleaning robot that proceeds out of the canister through the debris port and the debris duct and through the lid assembly.

22. A discharge duct connected to the canister, the discharge duct being configured to receive at least a portion of the air stream through it, A filter, wherein the filter is connected to the discharge duct and is configured to at least partially receive at least a portion of the air stream through it, and The docking station according to claim 21, including the following:

Images